CN105676897A - Multi-motor system intelligent coordinated control method - Google Patents

Abstract

A multi-motor system intelligent coordinated control method is innovative in that control parameters of a plurality of main controllers and a plurality of compensation controllers adopted by a multi-motor system are synchronously obtained in a combined setting mode. The multi-motor system intelligent coordinated control method has the advantages that the multi-motor system intelligent coordinated control method is provided, the PID control parameters related to the method are obtained under the condition that combined setting is carried out on all the main controller and all the compensation controller, the dynamic performance and the synchronization performance respectively have a weight in the combined setting process, the weights are adjustable, and technical personnel can adjust the corresponding weights according to the practical condition so as to obtain the PID control parameters meeting the practical requirements.

Description

Multi-machine system intelligent coordination control method

Technical field

The present invention relates to a kind of multi_motor control technology, particularly relate to a kind of multi-machine system intelligent coordination control method.

Background technology

Multi-machine system control problem is prevalent in commercial production industry, such as conticaster, rolling mill, paper machine, dyeing and finishing machine etc., dynamic property and the net synchronization capability of the product quality of these equipment and production efficiency and multi-machine system are closely related, and the performance of multi-machine system is just proposed higher requirement by this.

In the prior art, control device for multi-machine system, mostly adopt industrial conventional PID (ratio, integration and differential) controller, for making multi-machine system be provided simultaneously with good dynamic and synchronicity, in prior art, when stating PID controller before application, generally there is the following two kinds method:

Method one: be all individually equipped with a master controller for every motor in multi-machine system, by dynamic and synchronicity simultaneously as object function, adopts the mode of intelligent optimization that multiple master controllers are combined and adjusts; Although the method there is the problem that, by dynamic and synchronicity simultaneously as object function when adjusting, but a master controller only it is configured with due to single motor, it is not provided with independent speed sync compensator, during actual motion, the requirement that a master controller is obviously difficult to take into account dynamic and synchronicity the two aspect simultaneously;

Method two: on the basis of method one, a speed sync compensator individually it is equipped with again for every motor, Each performs its own functions for master controller and speed sync compensator, namely master controller is for regulating dynamic property and the steady-state behaviour of each motor self, speed sync compensator is used for controlling not lack of proper care between many motors, and keeps good synchronization accuracy, during employing method two, it is generally adopted the mode adjusted step by step and master controller and speed sync compensator are adjusted: first, with the dynamic of every motor for target, obtain the pid parameter of the master controller of every motor one by one. then, adopt certain coupled modes, with the synchronicity of multiple electric motors for target, the pid parameter of the speed sync compensator of multiple electric motors is combined and adjusts, compared with method one, method two both increases corresponding speed sync compensator for every motor, in theory, during employing method two, the net synchronization capability index of multi-machine system should increase, but in Practical Project, but it not so: although the pid parameter of multiple speed sync compensator combines acquisition of adjusting with synchronicity for target, but in actual control, the output controlled quentity controlled variable of speed sync compensator must be overlapped obtaining final control signal with the output controlled quentity controlled variable of master controller, this allows for the output controlled quentity controlled variable that before final control signal will deviate from, master controller is adjusted for target with dynamic, thus causing that the dynamic of motor will be difficult to control,Produce foregoing problems basic reason be, master controller and speed sync compensator be substep independently adjust, adjust later speed sync compensator time, it will the master controller above adjusted is brought impact.

Summary of the invention

For Problems existing in background technology, the present invention proposes a kind of multi-machine system intelligent coordination control method, and its innovation is in that: described multi-machine system includes central controller, as the multiple electric motors of controlled device and multiple electric motors multiple sub-controllers and multiple electric motors one to one multiple master controllers and the multiple electric motors one to one multiple speed probes one to one of multiple compensating controllers and multiple electric motors one to one;

Described master controller, sub-controller and speed probe are all connected with central controller, the input of described compensating controller connects with corresponding sub-controller, the outfan of compensating controller is connected with central controller, and described central controller is connected with the driving device of multiple electric motors respectively; Described speed probe is arranged on motor, and speed probe is used for detecting motor speed;

When multi-machine system is run, it is controlled as follows:

If the quantity of motor is n platform, with the Arabic numerals of 1 to n, multiple electric motors is numbered, master controller corresponding to k motor, sub-controller and compensating controller are designated as k master controller, k work song controller and k compensating controller, k=1,2,3 ... n respectively;

When given speed changes, 1) the current rotating speed of each motor is detected by central controller by speed probe, and the tachometer value of corresponding 1 to n motor is designated as tachometer value 1, tachometer value 2 respectively ... tachometer value n; Then central controller is according to given speed and multiple tachometer value, calculates the deviation value between given speed and every speed value respectively, and the deviation value of corresponding 1 to n motor is designated as deviation value 1, deviation value 2, deviation value 3 respectively ... deviation value n;

2) multiple deviation values are respectively sent to corresponding master controller by central controller, simultaneously, tachometer value is sent to sub-controller by central controller as follows: for k work song controller, as k=n, and tachometer value 1 and tachometer value n are sent to this sub-controller by central controller; As k ≠ n, tachometer value k and tachometer value k+1 is sent to this sub-controller by central controller;

3) after master controller receives deviation value, carrying out PID adjustment according to deviation value and export main control signal to central controller, the main control signal of corresponding 1 to n motor is designated as main control signal 1, main control signal 2 respectively ... main control signal n;

4), after sub-controller receives tachometer value, process as follows:

For k work song controller, as k=n, tachometer value n and tachometer value 1 are asked poor by sub-controller, then poor result will be asked to send to corresponding compensating controller; As k ≠ n, tachometer value k and tachometer value k+1 is asked poor by sub-controller, then poor result will be asked to send to corresponding compensating controller;

Compensating controller receives after seeking poor result, according to asking poor result carry out PID adjustment and export compensating control signal to central controller, the compensating control signal of corresponding 1 to n motor is designated as compensating control signal 1, compensating control signal 2 respectively ... compensating control signal n;

5) after central controller receives main control signal and compensating control signal, main control signal corresponding for sequence number and compensating control signal are overlapped, obtaining and drive signal, the driving signal of corresponding 1 to n motor is designated as driving signal 1 respectively, drives signal 2 ... drive signal n;Then central controller will drive signal to send the driving device to corresponding motor, motor speed is adjusted by driving device according to driving signal, enter after steady-state operation until motor, central controller is out of service by compensating controller, and the main control signal that master controller exports directly is exported to driving device by central controller;

Before the plurality of compensating controller puts into operation, multiple master controllers and multiple compensating controller are combined adjust as follows:

1] proportional for the PID parameter regulated in single master controller, integration and differential three kinds regulate parameter, and proportional for the PID parameter regulated in single compensating controller, integration and differential three kinds control parameter. According to motor performance, regulate parameter for each and each controls parameter and sets span respectively, the upper limit according to span determines that each regulates parameter and the length of each control binary code corresponding to parameter, binary code corresponding to single adjustment parameter or single control parameter is designated as a gene, then single master controller and single compensating controller are altogether to there being six genes; Number an identical master controller and a compensating controller forms a unit, then multiple master controllers and multiple compensating controller form multiple unit; Six sequences in the gene corresponding to individual unit together into a gene section, multiple gene sections one chromosome of formation arranged together that multiple unit are corresponding; After each gene in chromosome is composed upper initial value, namely this chromosome forms one and regulates individuality, adopts random assignment mode, it is thus achieved that multiple adjustments are individual within the scope of each parameter value, namely multiple adjustment individualities form an initial population, calculate the fitness f that in initial population, each adjustment is individual;

2] l-G simulation test is passed through, the simulation multi-machine system Dynamic Regulating Process when given speed changes, in process of the test, adopts genetic algorithm to be iterated initial population processing, finding adjustment maximum for fitness f individual, adjustment individuality maximum for fitness f is designated as optimum individual;

3] being decoded optimum individual processing, each gene in optimum individual is reduced to adjustment parameter and control parameter accordingly, then store regulating parameter to corresponding master controller and compensating controller with control parameter, tuning process completes;

The expression formula of described fitness f is:

F=α f₁+(1-α)f₂

Wherein, f₁For characterizing the fitness function of multi-machine system dynamic property, f₂For characterize multi-machine system net synchronization capability fitness function, α is weight coefficient, the span of α be (0,1]; The value of α more levels off to 0, then the performance of multi-machine system is more heavily weighted toward the synchronicity between multiple electric motors, and the value of α more levels off to 1 or equal to 1, then the performance of multi-machine system is more heavily weighted toward the dynamic of motor;

f₁Expression formula be:

f₁=1/J_ITAE1

Wherein, J_ITAE1ITAE performance indications for corresponding dynamic property;

J_ITAE1Expression formula be:

$J_{ITAE1}={\∫}_0^{T}t\·e\left(t\right)dt$

Wherein, t is the time, and T is the time span of Dynamic Regulating Process in l-G simulation test process; The Error Absolute Value sum that e (t) is each motor;

The expression formula of e (t) is:

$e\left(t\right)=\underset{k=1}{\overset{n}{\Σ}}\left|e_k\left(t\right)\right|$

Wherein, e_kT () be error between output speed with it for k motor given speed;

e_kT the expression formula of () is:

e_k(t)=ω^*(t)-ω_k(t)

Wherein, ω^*T () is given speed, ω_kT () is the output speed of k motor;

f₂Expression formula be:

f₂=1/J_ITAE2

Wherein, J_ITAE2ITAE performance indications for corresponding net synchronization capability;

J_ITAE2Expression formula be:

$J_{ITAE2}={\∫}_0^{T}t\·\mathrm{\ϵ}\left(t\right)dt$

Wherein, t is the time, and T is the time span of Dynamic Regulating Process in l-G simulation test process; ε (t) is the Error Absolute Value sum between the adjacent motor of sequence number;

The expression formula of ε (t) is:

$\mathrm{\ϵ}\left(t\right)=\underset{k=1}{\overset{n}{\Σ}}\left|{\mathrm{\ϵ}}_k\left(t\right)\right|$

Wherein, ε_kT () is the error between the output speed of previous motor and a rear motor;

As k ≠ n, ε_k(t)=ω_k(t)-ω_k+1(t), as k=n, ε_n(t)=ω_n(t)-ω₁(t); ω_kT () is the output speed of k motor, ω_k+1T () is the output speed of k+1 motor, ω_nT () is the output speed of n motor, ω₁T () is the output speed of No. 1 motor.

Principles of the invention is: the method two in background technology be can yet be regarded as a kind of better thinking improving multi-machine system performance, but the inherent shortcoming existing for its setting mode, cause that its performance is not fully up to expectations. Then inventor considers, with a kind of new setting mode master controller and speed sync compensator can be combined and adjust, so that final control signal can take into account the dynamic of multi-machine system, the synchronicity of multi-machine system can be taken into account again, or the weight making dynamic and synchronicity each shared in the controls is controlled, but not " it is difficult to controlling " like that as described in method two; Along this thinking, inventors performed substantial amounts of experimentation, and finally given the solution of the present invention;

In the present invention, by f=α f₁+(1-α)f₂The dynamic property adjusted in target and net synchronization capability have been carried out weight distribution, by regulating the size of α, the tendentiousness of target of adjusting just can be carried out control by we, as made the controller parameter finally adjusted out be more prone to the dynamic property of motor, then can the value of α be obtained bigger, as made the controller parameter finally adjusted out be more prone to the net synchronization capability of motor, then can the value of α be obtained less, net synchronization capability can be taken into account again as made the controller parameter finally adjusted out can take into account dynamic property, then α can be taken moderate value; After α value is determined, the parameter of multiple master controllers and multiple compensating controller is combined to adjust under same goal condition of adjusting and is obtained, and avoiding problems substep when adjusting, will to the problem impacted of adjusting above in adjusting later; Bright known the solution of the present invention after, those skilled in the art can according to actual needs with concrete control purpose, by testing the value rationally determining α; About genetic algorithm: based on the known property of genetic algorithm, and consider the core that genetic algorithm is not improved in the present invention, and only as a kind of algorithmic tool, therefore the iterative process that it is concrete is introduced comparatively rough by the present invention, if there being part not to the utmost, those skilled in the art should understand the present invention in genetic algorithm iterative processing mode disclosed in existing document.

The method have the benefit that: propose a kind of multi-machine system intelligent coordination control method, pid control parameter involved by the method, it is that all master controllers and all compensating controllers are being obtained when combining and adjust, and combine when adjusting, dynamic property and net synchronization capability have all each accounted for weight in target of adjusting, and weight is adjustable, and technical staff can according to practical situation, respective weights is adjusted, with the pid control parameter that acquisition corresponds to actual needs.

Accompanying drawing explanation

Fig. 1, the present invention systematic schematic diagram (for 4 motors);

In figure, the title corresponding to each labelling is respectively as follows: given speed ω^*The output speed ω of (t), No. 1 motor₁The output speed ω of (t), No. 2 motors₂The output speed ω of (t), No. 3 motors₃The output speed ω of (t), No. 4 motors₄(t), No. 1 motor given speed error e between output speed with it₁(t), No. 2 motor given speeds error e between output speed with it₂(t), No. 3 motor given speeds error e between output speed with it₃(t), No. 4 motor given speeds error e between output speed with it₄(t), error ε between No. 1 motor and the output speed of No. 2 motors₁(t), error ε between No. 2 motors and the output speed of No. 3 motors₂(t), error ε between No. 3 motors and the output speed of No. 4 motors₃(t), error ε between No. 4 motors and the output speed of No. 1 motor₄(t), driving signal 1u₁(t), driving signal 2u₂(t), driving signal 3u₃(t), driving signal 4u₄(t)。

Detailed description of the invention

A kind of multi-machine system intelligent coordination control method, its innovation is in that: described multi-machine system includes central controller, as the multiple electric motors of controlled device and multiple electric motors multiple sub-controllers and multiple electric motors one to one multiple master controllers and the multiple electric motors one to one multiple speed probes one to one of multiple compensating controllers and multiple electric motors one to one;

Described master controller, sub-controller and speed probe are all connected with central controller, the input of described compensating controller connects with corresponding sub-controller, the outfan of compensating controller is connected with central controller, and described central controller is connected with the driving device of multiple electric motors respectively; Described speed probe is arranged on motor, and speed probe is used for detecting motor speed;

When multi-machine system is run, it is controlled as follows:

If the quantity of motor is n platform, with the Arabic numerals of 1 to n, multiple electric motors is numbered, master controller corresponding to k motor, sub-controller and compensating controller are designated as k master controller, k work song controller and k compensating controller, k=1,2,3 ... n respectively;

When given speed changes, 1) the current rotating speed of each motor is detected by central controller by speed probe, and the tachometer value of corresponding 1 to n motor is designated as tachometer value 1, tachometer value 2 respectively ... tachometer value n; Then central controller is according to given speed and multiple tachometer value, calculates the deviation value between given speed and every speed value respectively, and the deviation value of corresponding 1 to n motor is designated as deviation value 1, deviation value 2, deviation value 3 respectively ... deviation value n;

2) multiple deviation values are respectively sent to corresponding master controller by central controller, simultaneously, tachometer value is sent to sub-controller by central controller as follows: for k work song controller, as k=n, and tachometer value 1 and tachometer value n are sent to this sub-controller by central controller; As k ≠ n, tachometer value k and tachometer value k+1 is sent to this sub-controller by central controller;

3) after master controller receives deviation value, carrying out PID adjustment according to deviation value and export main control signal to central controller, the main control signal of corresponding 1 to n motor is designated as main control signal 1, main control signal 2 respectively ... main control signal n;

4), after sub-controller receives tachometer value, process as follows:

For k work song controller, as k=n, tachometer value n and tachometer value 1 are asked poor by sub-controller, then poor result will be asked to send to corresponding compensating controller; As k ≠ n, tachometer value k and tachometer value k+1 is asked poor by sub-controller, then poor result will be asked to send to corresponding compensating controller;

Compensating controller receives after seeking poor result, according to asking poor result carry out PID adjustment and export compensating control signal to central controller, the compensating control signal of corresponding 1 to n motor is designated as compensating control signal 1, compensating control signal 2 respectively ... compensating control signal n;

5) after central controller receives main control signal and compensating control signal, main control signal corresponding for sequence number and compensating control signal are overlapped, obtaining and drive signal, the driving signal of corresponding 1 to n motor is designated as driving signal 1 respectively, drives signal 2 ... drive signal n; Then central controller will drive signal to send the driving device to corresponding motor, motor speed is adjusted by driving device according to driving signal, enter after steady-state operation until motor, central controller is out of service by compensating controller, and the main control signal that master controller exports directly is exported to driving device by central controller;

Before the plurality of compensating controller puts into operation, multiple master controllers and multiple compensating controller are combined adjust as follows:

1] proportional for the PID parameter regulated in single master controller, integration and differential three kinds regulate parameter, single compensating controller is used for the PID parameter regulated proportional, integration and differential three kinds control parameter, according to motor performance, regulate parameter for each and each controls parameter and sets span respectively, the upper limit according to span determines that each regulates parameter and the length of each control binary code corresponding to parameter, binary code corresponding to single adjustment parameter or single control parameter is designated as a gene, then single master controller and single compensating controller are altogether to there being six genes,Number an identical master controller and a compensating controller forms a unit, then multiple master controllers and multiple compensating controller form multiple unit; Six sequences in the gene corresponding to individual unit together into a gene section, multiple gene sections one chromosome of formation arranged together that multiple unit are corresponding; After each gene in chromosome is composed upper initial value, namely this chromosome forms one and regulates individuality, adopts random assignment mode, it is thus achieved that multiple adjustments are individual within the scope of each parameter value, namely multiple adjustment individualities form an initial population, calculate the fitness f that in initial population, each adjustment is individual;

2] l-G simulation test is passed through, the simulation multi-machine system Dynamic Regulating Process when given speed changes, in process of the test, adopts genetic algorithm to be iterated initial population processing, finding adjustment maximum for fitness f individual, adjustment individuality maximum for fitness f is designated as optimum individual;

3] being decoded optimum individual processing, each gene in optimum individual is reduced to adjustment parameter and control parameter accordingly, then store regulating parameter to corresponding master controller and compensating controller with control parameter, tuning process completes;

The expression formula of described fitness f is:

F=α f₁+(1-α)f₂

Wherein, f₁For characterizing the fitness function of multi-machine system dynamic property, f₂For characterize multi-machine system net synchronization capability fitness function, α is weight coefficient, the span of α be (0,1]; The value of α more levels off to 0, then the performance of multi-machine system is more heavily weighted toward the synchronicity between multiple electric motors, and the value of α more levels off to 1 or equal to 1, then the performance of multi-machine system is more heavily weighted toward the dynamic of motor;

f₁Expression formula be:

f₁=1/J_ITAE1

Wherein, J_ITAE1ITAE performance indications for corresponding dynamic property;

J_ITAE1Expression formula be:

$J_{ITAE1}={\∫}_0^{T}t\·e\left(t\right)dt$

Wherein, t is the time, and T is the time span of Dynamic Regulating Process in l-G simulation test process; The Error Absolute Value sum that e (t) is each motor;

The expression formula of e (t) is:

$e\left(t\right)=\underset{k=1}{\overset{n}{\Σ}}\left|e_k\left(t\right)\right|$

Wherein, e_kT () be error between output speed with it for k motor given speed;

e_kT the expression formula of () is:

e_k(t)=ω^*(t)-ω_k(t)

Wherein, ω^*T () is given speed, ω_kT () is the output speed of k motor;

f₂Expression formula be:

f₂=1/J_ITAE2

Wherein, J_ITAE2ITAE performance indications for corresponding net synchronization capability;

J_ITAE2Expression formula be:

$J_{ITAE2}={\∫}_0^{T}t\·\mathrm{\ϵ}\left(t\right)dt$

Wherein, t is the time, and T is the time span of Dynamic Regulating Process in l-G simulation test process; ε (t) is the Error Absolute Value sum between the adjacent motor of sequence number;

The expression formula of ε (t) is:

$\mathrm{\ϵ}\left(t\right)=\underset{k=1}{\overset{n}{\Σ}}\left|{\mathrm{\ϵ}}_k\left(t\right)\right|$

Wherein, ε_kT () is the error between the output speed of previous motor and a rear motor;

As k ≠ n, ε_k(t)=ω_k(t)-ω_k+1(t), as k=n, ε_n(t)=ω_n(t)-ω₁(t); ω_kT () is the output speed of k motor, ω_k+1T () is the output speed of k+1 motor, ω_nT () is the output speed of n motor, ω₁T () is the output speed of No. 1 motor.

Fig. 1 is the systematic schematic diagram of the present invention for 4 motors;

Multi-machine system is built, the rated power P of each motor with 4 ac three-phase asynchronous motors of YS series_e1、P_e2、P_e3And P_e4It is respectively as follows: P_e1=P_e3=2.2kW, P_e2=P_e4=2.0kW; The stator resistance R of each motor_s1、R_s2、R_s3And R_s4It is respectively as follows:

R_s1=0.47 Ω, R_s2=0.49 Ω, R_s3=0.53 Ω, R_s4=0.51 Ω; The number of pole-pairs of each motor is 2; The rotary inertia J of each motor₁、J₂、J₃And J₄It is respectively as follows: J₁=J₃=7.2 × 10^-3kg.m², J₂=J₄=6.8 × 10^-3kg.m²;When taking 0.4 and 0.85 respectively at weight coefficient α, respectively the multiple master controllers in multi-machine system and multiple compensating controller are combined and adjust, then the master controller adjusted and compensating controller put into operation respectively and carry out l-G simulation test: after multi-machine system starts, given rotating speed being set as ω^*T ()=1000rpm, in the process that multi-machine system is run, is continuously monitored dynamic performance index and net synchronization capability index, the dynamic performance index and the net synchronization capability index that monitor are as shown in the table:

As seen from the table, taking the situation of 0.4 compared to α, when α takes 0.85, the control parameter of system is more prone to the dynamic property of system.

Claims (1)

1. a multi-machine system intelligent coordination control method, it is characterised in that: described multi-machine system includes central controller, as the multiple electric motors of controlled device and multiple electric motors multiple sub-controllers and multiple electric motors one to one multiple master controllers and the multiple electric motors one to one multiple speed probes one to one of multiple compensating controllers and multiple electric motors one to one;

Described master controller, sub-controller and speed probe are all connected with central controller, the input of described compensating controller connects with corresponding sub-controller, the outfan of compensating controller is connected with central controller, and described central controller is connected with the driving device of multiple electric motors respectively; Described speed probe is arranged on motor, and speed probe is used for detecting motor speed;

When multi-machine system is run, it is controlled as follows:

If the quantity of motor is n platform, with the Arabic numerals of 1 to n, multiple electric motors is numbered, master controller corresponding to k motor, sub-controller and compensating controller are designated as k master controller, k work song controller and k compensating controller, k=1,2,3 ... n respectively;

When given speed changes, 1) the current rotating speed of each motor is detected by central controller by speed probe, and the tachometer value of corresponding 1 to n motor is designated as tachometer value 1, tachometer value 2 respectively ... tachometer value n; Then central controller is according to given speed and multiple tachometer value, calculates the deviation value between given speed and every speed value respectively, and the deviation value of corresponding 1 to n motor is designated as deviation value 1, deviation value 2, deviation value 3 respectively ... deviation value n;

2) multiple deviation values are respectively sent to corresponding master controller by central controller, simultaneously, tachometer value is sent to sub-controller by central controller as follows: for k work song controller, as k=n, and tachometer value 1 and tachometer value n are sent to this sub-controller by central controller; As k ≠ n, tachometer value k and tachometer value k+1 is sent to this sub-controller by central controller;

3) after master controller receives deviation value, carrying out PID adjustment according to deviation value and export main control signal to central controller, the main control signal of corresponding 1 to n motor is designated as main control signal 1, main control signal 2 respectively ... main control signal n;

4), after sub-controller receives tachometer value, process as follows:

For k work song controller, as k=n, tachometer value n and tachometer value 1 are asked poor by sub-controller, then poor result will be asked to send to corresponding compensating controller; As k ≠ n, tachometer value k and tachometer value k+1 is asked poor by sub-controller, then poor result will be asked to send to corresponding compensating controller;

Compensating controller receives after seeking poor result, according to asking poor result carry out PID adjustment and export compensating control signal to central controller, the compensating control signal of corresponding 1 to n motor is designated as compensating control signal 1, compensating control signal 2 respectively ... compensating control signal n;

5) after central controller receives main control signal and compensating control signal, main control signal corresponding for sequence number and compensating control signal are overlapped, obtaining and drive signal, the driving signal of corresponding 1 to n motor is designated as driving signal 1 respectively, drives signal 2 ... drive signal n; Then central controller will drive signal to send the driving device to corresponding motor, motor speed is adjusted by driving device according to driving signal, enter after steady-state operation until motor, central controller is out of service by compensating controller, and the main control signal that master controller exports directly is exported to driving device by central controller;

Before the plurality of compensating controller puts into operation, multiple master controllers and multiple compensating controller are combined adjust as follows:

1] proportional for the PID parameter regulated in single master controller, integration and differential three kinds regulate parameter, single compensating controller is used for the PID parameter regulated proportional, integration and differential three kinds control parameter, according to motor performance, regulate parameter for each and each controls parameter and sets span respectively, the upper limit according to span determines that each regulates parameter and the length of each control binary code corresponding to parameter, binary code corresponding to single adjustment parameter or single control parameter is designated as a gene, then single master controller and single compensating controller are altogether to there being six genes, number an identical master controller and a compensating controller forms a unit, then multiple master controllers and multiple compensating controller form multiple unit, six sequences in the gene corresponding to individual unit together into a gene section, multiple gene sections one chromosome of formation arranged together that multiple unit are corresponding, after each gene in chromosome is composed upper initial value, namely this chromosome forms one and regulates individuality, adopts random assignment mode, it is thus achieved that multiple adjustments are individual within the scope of each parameter value, namely multiple adjustment individualities form an initial population, calculate the fitness f that in initial population, each adjustment is individual,

2] l-G simulation test is passed through, the simulation multi-machine system Dynamic Regulating Process when given speed changes, in process of the test, adopts genetic algorithm to be iterated initial population processing, finding adjustment maximum for fitness f individual, adjustment individuality maximum for fitness f is designated as optimum individual;

3] being decoded optimum individual processing, each gene in optimum individual is reduced to adjustment parameter and control parameter accordingly, then store regulating parameter to corresponding master controller and compensating controller with control parameter, tuning process completes;

The expression formula of described fitness f is:

F=α f₁+(1-α)f₂

Wherein, f₁For characterizing the fitness function of multi-machine system dynamic property, f₂For characterize multi-machine system net synchronization capability fitness function, α is weight coefficient, the span of α be (0,1]; The value of α more levels off to 0, then the performance of multi-machine system is more heavily weighted toward the synchronicity between multiple electric motors, and the value of α more levels off to 1 or equal to 1, then the performance of multi-machine system is more heavily weighted toward the dynamic of motor;

f₁Expression formula be:

f₁=1/J_ITAE1

Wherein, J_ITAE1ITAE performance indications for corresponding dynamic property;

J_ITAE1Expression formula be:

$J_{ITAE1}={\∫}_0^{T}t\·e\left(t\right)dt$

Wherein, t is the time, and T is the time span of Dynamic Regulating Process in l-G simulation test process; The Error Absolute Value sum that e (t) is each motor;

The expression formula of e (t) is:

$e\left(t\right)=\underset{k=1}{\overset{n}{\mathrm{\Σ}}}\left|e_k\left(t\right)\right|$

Wherein, e_kT () be error between output speed with it for k motor given speed;

e_kT the expression formula of () is:

e_k(t)=ω^*(t)-ω_k(t)

Wherein, ω^*T () is given speed, ω_kT () is the output speed of k motor;

f₂Expression formula be:

f₂=1/J_ITAE2

Wherein, J_ITAE2ITAE performance indications for corresponding net synchronization capability;

J_ITAE2Expression formula be:

$J_{ITAE2}={\∫}_0^{T}t\·\mathrm{\ϵ}\left(t\right)dt$

Wherein, t is the time, and T is the time span of Dynamic Regulating Process in l-G simulation test process; ε (t) is the Error Absolute Value sum between the adjacent motor of sequence number;

The expression formula of ε (t) is:

$\mathrm{\ϵ}\left(t\right)=\underset{k=1}{\overset{n}{\mathrm{\Σ}}}\left|{\mathrm{\ϵ}}_k\left(t\right)\right|$

Wherein, ε_kT () is the error between the output speed of previous motor and a rear motor;

As k ≠ n, ε_k(t)=ω_k(t)-ω_k+1(t), as k=n, ε_n(t)=ω_n(t)-ω₁(t); ω_kT () is the output speed of k motor, ω_k+1T () is the output speed of k+1 motor, ω_nT () is the output speed of n motor, ω₁T () is the output speed of No. 1 motor.